Abstract
Our goal is to develop snake-like robots that can exhibit versatile locomotion patterns in response to the environments like real snakes. Towards this goal, in our other work, we proposed an autonomous decentralized control scheme on the basis of a concept called TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation, and then succeeded in reproducing scaffold-based locomotion, a locomotion pattern observed in unstructured environments, via real-world experiments. In this study, we demonstrated via simulations that concertina locomotion observed in narrow spaces can be also reproduced by using the proposed control scheme.
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Acknowledgments
This work was supported in part by NEDO (Core Technology Development Program for Next Generation Robot). The authors would like to thank Dr. Kosuke Inoue of Ibaraki University and Dr. Hisashi Date of University of Tsukuba, and Daiki Nakashima of Tohoku University, for their cooperation.
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Yoshizawa, R., Kano, T., Ishiguro, A. (2016). Realization of Snakes’ Concertina Locomotion by Using “TEGOTAE-Based Control”. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_61
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DOI: https://doi.org/10.1007/978-3-319-42417-0_61
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